Arduino Robot Arm!!! Please Send Help!

Projects General Guidance
1

Hey ive programmed my arduino robot arm to be moved by potentiometers and then store the positions onto my laptop. I also have the positions of the servos saved in notepad through a serial read/write. I want to know what is the best way to code the positions that i have saved from training the arm into my arduino code so it can do the same job over and over without me retraining the arm. I want to be able to push a button and have it start the code and after its done stop until i push the button again.

Would something like this work?

myservo1.write(180); // tell servo to go to position in variable 'pos'
delay(2000);

2

This is my Code for my Project how i have it set up right now!

#include <Servo.h>

Servo s1; //base rotation
Servo s2; //lower arm joint
Servo s3; //upper arm joint
Servo s4; //upper arm rotation
Servo s5; //wrist
Servo s6; //hand rotation

int modeSwitchPin = 2;

//servo pins
int sp1 = 3;
int sp2 = 5;
int sp3 = 6;
int sp4 = 9;
int sp5 = 10;
int sp6 = 11;

//pot pins
int pp1 = A0;
int pp2 = A1;
int pp3 = A2;
int pp4 = A3;
int pp5 = A4;
int pp6 = A5;

int lastPos[7] = {0, 0, 0, 0, 0, 0, 0};

// x, 1, 2, 3, 4, 5, 6 you must set these to your system..
int calibration[7] = {0, 0, -20, -12, 0, 0, 0};
int neutralPos[7] = {0,93,121,37,80,86,80};
bool moved = false;
bool debug = false;
bool inJoyStickMode = true;

void gotoNeutralPos(){
for(int i=1; i<=6; i++) doMove(i, neutralPos*,0);*
}
void setup() {

  • Serial.begin(115200);*

  • s1.attach(sp1);*

  • s2.attach(sp2);*

  • s3.attach(sp3);*

  • s4.attach(sp4);*

  • s5.attach(sp5);*

  • s6.attach(sp6);*

  • pinMode(pp1, INPUT);*

  • pinMode(pp2, INPUT);*

  • pinMode(pp3, INPUT);*

  • pinMode(pp4, INPUT);*

  • pinMode(pp5, INPUT);*

  • pinMode(pp6, INPUT);*

  • pinMode(modeSwitchPin, INPUT_PULLUP); //defaults to joystick mode..*
    }
    void loop() {

  • if(digitalRead(modeSwitchPin) == HIGH){*

  • inJoyStickMode = true;*

  • JoyStickMode();*

  • }*

  • else{*

  • if(inJoyStickMode){*

  • inJoyStickMode = false;*

  • gotoNeutralPos();*

  • }*

  • SerialControlMode();*

  • }*
    }
    void JoyStickMode(){

  • moved = false;*

  • int raw1 = analogRead(pp1);*

  • int raw2 = analogRead(pp2);*

  • int raw3 = analogRead(pp3);*

  • int raw4 = analogRead(pp4);*

  • int raw5 = analogRead(pp5);*

  • int raw6 = analogRead(pp6);*

  • int pos1 = map(raw1, 0, 1023, 0, 180);*

  • int pos2 = map(raw2, 0, 1023, 180, 0); //note i accidently swapped which side my +/- were on so I have to swap the mapping..(arm was acting in reverse of my motion)*

  • int pos3 = map(raw3, 0, 1023, 0, 180);*

  • int pos4 = map(raw4, 0, 1023, 0, 180); //not implemented in joystick yet*

  • int pos5 = map(raw5, 0, 1023, 0, 180);*

  • int pos6 = map(raw6, 0, 1023, 0, 180); //not implemented in joystick yet*

  • if(abs(pos1 - lastPos[1]) > 2) doMove(1, pos1, raw1);*

  • if(abs(pos2 - lastPos[2]) > 2) doMove(2, pos2, raw2);*

  • if(abs(pos3 - lastPos[3]) > 2) doMove(3, pos3, raw3);*

  • if(abs(pos4 - lastPos[4]) > 2) doMove(4, pos4, raw4);*

  • if(abs(pos5 - lastPos[5]) > 2) doMove(5, pos5, raw5);*

  • if(abs(pos6 - lastPos[6]) > 2) doMove(6, pos6, raw6);*

  • if(moved){*

  • if(debug)*

  • Serial.println();*

  • else{*

  • Serial.print(pos1);Serial.print(',');*

  • Serial.print(pos2);Serial.print(',');*

  • Serial.print(pos3);Serial.print(',');*

  • Serial.print(pos4);Serial.print(',');*

  • Serial.print(pos5);Serial.print(',');*

  • Serial.print(pos6); *

  • Serial.println();*

  • }*

  • }*
    }
    void SerialControlMode(){

  • String n;*
    _ Servo* s = 0;_

  • int i=1;*

  • int pos[7] = {0, 0, 0, 0, 0, 0, 0};*

  • char tmp[100];*
    _ char *t = &tmp[0];_

  • //expected input 6 csv numbers for servo positions \n*

  • //0,0,0,0,0,0\n*

  • while(!Serial.available()){*

  • delay(1);*

  • if(digitalRead(modeSwitchPin) == HIGH) return; //they entered joystick mode..*

  • }*

  • n = Serial.readStringUntil('\n');*

  • if(n.length() >= 100){*

  • Serial.println("Invalid to long!");*

  • return;*

  • }*

  • strcpy(tmp,n.c_str());*

  • while(i < 7){*
    _ pos = atoi(t);_
    * i++;*
    * if(i!=7){*
    _ while(t != ','){
    if(t == 0){i=7; break;}_
    _     t++;    _
    * }*
    * }*
    * t++;*
    * }*
    * if(i!=7){*
    * Serial.print("Invalid command string i=");*
    * Serial.println(i);*
    * Serial.println();*
    * return;*
    * }*
    * if(debug){*
    * Serial.print("Parsed input: ");*
    * for(i=1; i<=6; i++){*
    _ Serial.print(pos*);
     Serial.print( (i==6 ? '\n' : ',' ) );
     }
     }
     bool isEmpty = true;
     for(i=1; i<=6; i++){
    if(pos != 0){ isEmpty = false; break; }
    }
    if(!isEmpty){
    for(i=1; i<=6; i++){_
    if( pos != lastPos _) doMove(i,pos,0);
    }
    }
    Serial.println("OK");
    }_
    _Servo getServo(int index){
    * switch(index){
    case 1: return &s1;
    case 2: return &s2;
    case 3: return &s3;
    case 4: return &s4;
    case 5: return &s5;
    case 6: return &s6;
    }
    return 0;
    }*
    void doMove(int index, int pos, int raw){_

_ Servo* s = getServo(index);
* if(s==0) return;
lastPos[index] = pos;
if(debug) dbg(index,raw,pos);
s->write(pos + calibration[index]);
moved = true;
}*
void dbg(int index, int raw, int pos){_

* Serial.print(index);*
* Serial.print(") ");*
* Serial.print("Raw: ");*
* Serial.print(raw);*
* Serial.print(" Mapped: "); *
* Serial.println(pos);*
bool debug = true;
* Serial.begin(115200);*
}

3

Please edit your posting to enclose code in Code Tags </>, else essential parts of your code are lost. See "How to use this forum".

Declare a record with all your position values, then you can build an array of such records for multiple sequential moves. Add some time stamp or other flags, so that the movements can be made at the right time or after a certain event (button pressed...).